A 3-dof parallel continuum robot with large orientation workspace: Modeling, simulation and experiment

Parallel Continuum Robots (PCRs) offer flexibility, safety, and agility due to their continuous structure. The parallel configuration further enhances precision and stiffness, making them particularly suitable for applications in confined spaces and human-contact environments, such as collaborative and surgical robots. In this paper, we conducted thorough investigation of a novel 3Degree-of-Freedom PCR design with a large orientation workspace which we have proposed before. We first provided a general kineto-static model based on Kirchhoff rod theory, which is a simplified form of Cosserat rod theory. The workspace of the novel PCR design was then analyzed through MATLAB simulations using the developed kineto-static model. Experiments were conducted to validate the twisting motion ability and investigate the motion of the prototype in comparison to model predictions. Additionally, we analyzed several singularity configurations from the perspective of elastic potential energy. The paper concludes with a summary of the behavior of this design and a discussion of future research directions.